CN108473187A - Ship's Sinking and the autonomous rescue system of personnel - Google Patents

Ship's Sinking and the autonomous rescue system of personnel Download PDF

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Publication number
CN108473187A
CN108473187A CN201580079552.9A CN201580079552A CN108473187A CN 108473187 A CN108473187 A CN 108473187A CN 201580079552 A CN201580079552 A CN 201580079552A CN 108473187 A CN108473187 A CN 108473187A
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China
Prior art keywords
ship
robot
triangulation
people
wrist strap
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Granted
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CN201580079552.9A
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Chinese (zh)
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CN108473187B (en
Inventor
麦特·亚历杭德拉·费尔南德斯
露莎·沃吉尼亚·鲁杰罗
赫拉西欧·阿尔伯托·莫里拉
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/08—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water
    • G08B21/088—Alarms for ensuring the safety of persons responsive to the presence of persons in a body of water, e.g. a swimming pool; responsive to an abnormal condition of a body of water by monitoring a device worn by the person, e.g. a bracelet attached to the swimmer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44C—PERSONAL ADORNMENTS, e.g. JEWELLERY; COINS
    • A44C5/00—Bracelets; Wrist-watch straps; Fastenings for bracelets or wrist-watch straps
    • A44C5/0007—Bracelets specially adapted for other functions or with means for attaching other articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00—Equipment for handling lifeboats or the like
    • B63B23/70—Condition-responsive handling equipment, e.g. automatic release of boat from lowering tackle upon contact with water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/0005—Life-saving in water by means of alarm devices for persons falling into the water, e.g. by signalling, by controlling the propulsion or manoeuvring means of the boat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/22—Devices for holding or launching life-buoys, inflatable life-rafts, or other floatable life-saving equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/17—Emergency applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/005—Search and rescue [SAR] vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C2009/0017—Life-saving in water characterised by making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Emergency Lowering Means (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention relates to a kind of novel, original and practical autonomous system for rescue operation, which works on ship, and Programmed control is carried out by software and hardware platform, to succour the people to fall overboard from master mode.The first moment that the system falls into the water in people from deck just brings into operation.The first moment contacted from the wrist strap with passenger with water, the system just send out radiofrequency signal, which carries following two orders：Activation alarm and notice robot start rescue operation, and people is taken back intervention of the ship without people by the system, that is to say, that in a manner of intelligent and is autonomous.

Description

Ship's Sinking and the autonomous rescue system of personnel
Technical field
Rescue system robot is mounted at ship pedestal (pedestal is located at after peak), once it is rescued, machine People independently starts from pedestal.
The quantity of robot depends on patronage as defined in every ship.
The operation principle of rescue system is as follows：The every personnel that go by ship must wear the bracelet with magnetic security button, step on Ship time is worn at wrist.
When bracelet except radio coverage and when contacting the water surface, can send out two signals：One of signal by Three receivers receive, and accurate location is sent to rescue robot, the other is GPS by radio after carrying out triangulation Coordinate signal.After system receives the two signals, robot can be launched by system into water.It is defined when robot receives Coordinate after, signal transmitted by bracelet finds persons falling in water.Once robot finds the personnel, system is then by wireless Electricity sends two instructions to robot：One instruction is that robot is allowed to be attached on bracelet, another order is to allow inflatable lifesaving Circle is inflated, which is similar to air bag and is positioned over robot interior, and persons falling in water can catch inflatable lifesaving Circle is floated.It after persons falling in water is found by robot and is attached on bracelet in five seconds, system program can send one and swash The order of recovery winch cable living.
When ship sinks, the level inclination sensor and vertical dip angle sensor of system can record ship variation feelings Condition, if detecting that hull is sinking, system is modified the emergency system in life raft, and makes urgent in life raft System is worked using mode identical with the emergency rescuing system and flow, and the emergency system in life raft is according to ship Direction accurately carries out triangulation to the position of bracelet, and after life raft provides personnel's coordinate, the robot in life raft is adopted It is rescued with flow identical with main ship and rescue mode.
Background technology
The present invention relates to the autonomous rescue system of a kind of novel innovation and practicality, which is applied to ship and by soft Part and the control of hardware program platform intelligent, in an autonomous manner rescue persons falling in water.When personnel are accidentally overboard from deck When the system begin to run.Once the bracelet that passenger wears contacts the water surface, bracelet can send out a signal and pass through radio Radio-frequency technique sends two instructions：One is to send out alarm signal, and another is notice rescue robot, later intelligent robot Ground independently starts and will wait for that rescue personnel takes back on ship, can be completed without human intervention.
Invention content
The present invention is directed to rescue persons falling in water.When sinking occurs, the present invention equally can to all persons falling in water into Row rescue.
It is well known that all ships have the rescue aid of standard, this rescue that those are familiar with aqueous people by ship It is very useful for member.But the shortcomings that this rescue aid, is the need for personnel and operates and have professional to supervise It surveys.If showing that persons falling in water is not able to swim according to previous experiences, or go into a coma when overboard, then existing rescue aid is not enough to draw Rescue its life.If persons falling in water is able to swim, original lifesaving appliance could effectively play a role, but need spend it is very long when Between removal search and rescue.
In addition, for the rescue system of the medium-sized fisherman navigated by water in the zone of the open sea of polar region, fallen once personnel occur Water, although persons falling in water is mostly able to swim, ship astern speed is very slow, is unable to fast search and rescue, causes overboard Personnel die of prolonged hypothermia mostly.
For assembling the large vessel of rescue motor launch, must at sea it turn when rescuing persons falling in water, But this kind of ship cannot halt suddenly on the water, can not be turned suddenly.This kind of ship be averaged headway be 25 To 30 sections, if there is man overboard, then with this speed, ship needs take an undesirably long time and could be rescued to persons falling in water It helps.If persons falling in water is not able to swim, long rescue period is fatal for persons falling in water.
Specific implementation mode
The present invention relates to the autonomous rescue system of a kind of novel innovation and practicality, system is applied on ship and by soft Part program intelligent control.Software program needs link with multiple devices, will not influence each other between each device.
The successful operation of system needs crewman all to wear the bracelet with magnetic security button, and when going on board, bracelet is worn on hand At wrist (Fig. 2).When bracelet is at (Fig. 3) except radio coverage and when contacting the water surface (Fig. 2-4), bracelet can send out two letters Number, one of signal is sent to radio station (Fig. 2-1) and is received by three receivers (Fig. 3-1,3-1.2,3-1.3), at Radio station sends coordinate signal by antenna (Fig. 2-1.2,2-1.3) and gives triangulation radio station (Fig. 3-2.1,3- after work(receives 2.2 and Fig. 3-2.3), accurate location is sent to rescue robot, the other is GPS by radio after carrying out triangulation Coordinate signal (Fig. 2-2), systematic microprocessor obtain exact position after receiving GPS and triangulation signals and to machines People (Fig. 1-8) sends out rescue instruction, then launches robot to (Fig. 5-2) in water.Robot steering engine (Fig. 1 .4.2) is opened at this time Begin to start, subsequent robot is moved at persons falling in water.Robotic asssembly has magnetic crochet (Fig. 1-6.3), compressed air bottle (Fig. 1- 6.2), lifebuoy fixed rope (Fig. 1-6.1) and lifebuoy (Fig. 1-6.1).After robot searches are to persons falling in water, it will pass through The magnetic crochet (Fig. 1-6.3) of equipment is attached on the magnetic bracelet of persons falling in water wearing (Fig. 2-1.3 and Fig. 1-5.1), similar later It is inflated in the lifebuoy (being positioned over robot interior) of air bag, persons falling in water can catch inflatable life preserver to be floated It is floating.At the same time, rescue buoy (Fig. 1-6.3) proceeds by expansion after system (Fig. 1-8) confirmation in 5 seconds makes robot (figure 1-7) swim on the water surface.Recovery winch cable (Fig. 5-4) starts automatically in the case where nobody operates, and capstan winch passes through attachment Persons falling in water is taken back on ship to guide cable in the robot on the bracelet of persons falling in water.
When ship occurs sinking or shipwreck occurs, the level inclination sensor and vertical dip angle sensor (Fig. 5-of system 5) situation of change of ship can be recorded, if detecting that hull is sinking, system changes the emergency system in life raft Into, and the emergency system in life raft is made to work using mode identical with the emergency rescuing system and flow, life raft On emergency system triangulation is accurately carried out to the position of bracelet according to the direction of ship, life raft provide coordinate after, Robot in life raft is rescued using flow identical with main ship and rescue mode.
Description of the drawings
System is illustrated in conjunction with following attached drawing
Fig. 1 robots
Fig. 2 bracelets
Fig. 3 triangulations radio station
Fig. 4 robot bases
Fig. 5 pedestal warehouse management systems
Fig. 1-robot
1-24 lies prostrate power-driven robot propeller motor power cord
2-24 lies prostrate feather drive motor
3- motor controllers
4- steering engine controllers and floating leveller
4-1 floats leveller motor
4-2 steering engine motors
5- bracelet fixed hook adjusters
5-1 electric propeller fixed hook bracelets
5-2 magnetism bracelets
6. lifebuoy controller
6-1 lifebuoys
6-2 lifebuoy fixed ropes
6-3 lifebuoy inflation compressed air hoses
7- maintains the compensated with air device and expansion buoy of robot floating
Programmable microprocessor in 8- bracelet identifying systems can store 3000 bracelet types
Fig. 2 bracelets
The microprocessor of the deep-seas the 1- radio-transmitting stations UHF-BHF and FR
The radio-transmitting stations 1-2 antenna
1-3 magnetic clasps latex band fixing device
2-GPS
3- power batteries
4- water sensors
4-1 water sensors send signal triggering alarm by radio station
Fig. 3 triangulations radio station
1-1.2,1.3,1.4 and 1.5 triangulation receiving nodes
2- bracelets send 2.1,2.2,2.3 signals
Fig. 4 robot bases
1- after peaks or stern
2- robots warehouse
The spring of 3- ejection robots
4- personnel rescuings capstan winch and robot and lifebuoy
Fig. 5 pedestal warehouse management systems
Cabin is placed by 1- robots
2- piston driving types robot
3- power cables and extension type cable
4- extension type capstan winches

Claims (8)

1. a kind of autonomous rescue system for ship passenger, including：Signal projector wrist strap with water sensor, with day The multi-band wireless electricity transmitter of line and battery, the GPS that Geo-synchronous position is provided to broadcasting equipment, and will pass through This broadcasting equipment is transferred to information of the processing from triangulation and finds wear the transmitter wrist in two ways Those of system of people of band coordinate；A kind of mode is by triangulation, and another way is the Geo-synchronous position by GPS It sets.
2. the autonomous rescue system for ship passenger of the method according to claim 1, wherein the triangulation passes through three A receiver carries out, one positioned at ship center, one positioned at front and another is located at below.
3. the autonomous rescue system for ship passenger of the method according to claim 1, wherein the wrist strap is sent out with seat Target signal, and the system receives one in the signal with Geo-synchronous positioning, and another signal is to being related to people The position of the ship of wrist strap with it carries out triangulation.
4. the autonomous rescue system for ship passenger of the method according to claim 1, wherein there is receiving comes from the system Robot park.
5. the autonomous rescue system for ship passenger of the method according to claim 1, wherein in the presence of behind ship and side The park in face, each park have robot, and the robot is by receiving order and the person from the triangulation On the wrist strap the Geo-synchronous position radio system operation.
6. the autonomous rescue system for ship passenger of method according to claim 5, wherein the robot stops from described The place of putting is advanced to the Geo-synchronous position that the radio emitted is searched in water and triangulation；Once finding wearing The people of the wrist strap, the robot are just adhered to by magnetic force on this wrist strap；At this point, life line is activated and floats, protect The robot is held to float；At this point, the robot sends radio signal to the park, the park includes twisting Vehicle, and in next five seconds, start to pull power cable from robot engine, to which people is taken back the ship.
7. the autonomous rescue system for ship passenger of the method according to claim 1, wherein the sinking or accident the case where Under, the system is dominated by the sensor with horizontal and vertical orientation in list level, the sensor record detection The variation sunk to ship.
8. the autonomous rescue system for ship passenger of the method according to claim 1, wherein the system is switched to movement To the emergency system of life raft；Then the system in a manner of identical in the ship and follows at the life raft Identical scheme works equally carry out triangulation in the ship to the position of the wrist strap；The life raft provides Coordinate, and the robot in the life raft starts to start to seek according to the identical scheme in main ship and rescue method Rescue work.
CN201580079552.9A 2015-03-19 2015-03-19 Ship sinking and personnel autonomous rescue system Active CN108473187B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2015/050008 WO2016145543A1 (en) 2015-03-19 2015-03-19 Autonomous people rescue system for vessels and shipwrecks

Publications (2)

Publication Number Publication Date
CN108473187A true CN108473187A (en) 2018-08-31
CN108473187B CN108473187B (en) 2021-02-12

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US (1) US10373469B2 (en)
EP (1) EP3272639A4 (en)
CN (1) CN108473187B (en)
BR (1) BR112017020067A2 (en)
WO (1) WO2016145543A1 (en)

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CN110155253A (en) * 2019-06-10 2019-08-23 上海海事大学 A kind of ship lifeboat releaser
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CN107351993B (en) * 2017-07-16 2019-06-04 湖南舟友乐智能科技有限公司 A kind of water rescue device and its method based on unmanned boat
CN107571978B (en) * 2017-10-02 2019-07-02 上海宇鹤自动化科技有限公司 A kind of underwater escape robot
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CN110155253A (en) * 2019-06-10 2019-08-23 上海海事大学 A kind of ship lifeboat releaser
CN110155253B (en) * 2019-06-10 2020-06-09 上海海事大学 Ship lifeboat release device
CN113277000A (en) * 2021-07-22 2021-08-20 江苏南瓯物联网科技有限公司 Lifesaving communication equipment for ship
CN113277000B (en) * 2021-07-22 2021-09-24 江苏南瓯物联网科技有限公司 Lifesaving communication equipment for ship

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EP3272639A1 (en) 2018-01-24
US10373469B2 (en) 2019-08-06
WO2016145543A1 (en) 2016-09-22
CN108473187B (en) 2021-02-12
BR112017020067A2 (en) 2018-11-06
US20180174422A1 (en) 2018-06-21

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